Version 4
SHEET 1 1160 856
WIRE 48 -176 -80 -176
WIRE 464 -176 336 -176
WIRE 48 -144 48 -176
WIRE 464 -144 464 -176
WIRE 48 -32 48 -64
WIRE 464 -32 464 -64
WIRE 48 144 -80 144
WIRE 416 144 352 144
WIRE 624 144 416 144
WIRE 48 176 48 144
WIRE 352 192 352 144
WIRE 624 192 624 144
WIRE 48 272 48 256
WIRE 48 304 48 272
WIRE 624 320 624 272
WIRE 352 336 352 272
WIRE 624 352 624 320
WIRE 48 416 48 384
WIRE 48 464 48 416
WIRE 624 464 624 432
WIRE 624 496 624 464
WIRE 48 592 48 544
WIRE 624 608 624 576
WIRE 48 624 48 592
WIRE 48 736 48 704
WIRE 48 736 -96 736
FLAG -80 144 MOT_P
IOPIN -80 144 In
FLAG -96 736 MOT_N
IOPIN -96 736 In
FLAG 48 -32 0
FLAG -80 -176 SPEED
IOPIN -80 -176 Out
FLAG 48 592 4
FLAG 48 416 3
FLAG 416 144 6
FLAG 624 320 7
FLAG 624 464 8
FLAG 352 336 0
FLAG 48 272 2
FLAG 624 608 0
FLAG 464 -32 0
FLAG 336 -176 POS
IOPIN 336 -176 Out
SYMBOL ind 32 288 R0
SYMATTR InstName LM
SYMATTR Value {LM}
SYMBOL res 32 160 R0
SYMATTR InstName RM
SYMATTR Value {RM}
SYMBOL bv 48 448 R0
WINDOW 3 22 112 Left 2
SYMATTR Value V=I(VSENSE2)*Kemf
SYMATTR InstName E_EMF
SYMBOL voltage 48 608 R0
WINDOW 123 0 0 Left 2
WINDOW 39 0 0 Left 2
SYMATTR InstName VSENSE1
SYMATTR Value 0
SYMBOL bv 352 176 R0
WINDOW 3 24 92 Left 2
SYMATTR Value V=I(VSENSE1)*0.05
SYMATTR InstName H_TORQ
SYMBOL res 608 336 R0
SYMATTR InstName RB
SYMATTR Value {BM}
SYMBOL ind 608 176 R0
SYMATTR InstName LJ
SYMATTR Value {JM}
SYMBOL voltage 624 480 R0
WINDOW 123 0 0 Left 2
WINDOW 39 0 0 Left 2
SYMATTR InstName VSENSE2
SYMATTR Value 0
SYMBOL bv 48 -160 R0
SYMATTR InstName B1
SYMATTR Value V=I(VSENSE2)
SYMBOL bv 464 -160 R0
SYMATTR InstName B2
SYMATTR Value V=IDT(I(VSENSE2))
TEXT 72 528 Left 2 ;I(VSENSE2)*Kemf
TEXT -120 -304 Left 2 ;http://www.ecircuitcenter.com/Circuits/dc_motor_model/DCmotor_model.htm
TEXT 80 -32 Left 2 ;rads/sec
TEXT 376 304 Left 2 ;I(VSENSE1)*Kt
TEXT 440 72 Left 2 ;Mechanical \nComponents
TEXT -32 72 Left 2 ;Electrical \nComponents
TEXT 496 -32 Left 2 ;rads
TEXT -24 -208 Left 2 ;SPEED
TEXT 368 -208 Left 2 ;POSITION
TEXT -136 -272 Left 2 !.param RM=1.9 LM=65u Kemf=13.37m KT=13.4m JM=5.7E-7 BM=1E-12 KPOS=1 KSPEED=60
